mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
71 lines
1.9 KiB
XML
Executable File
71 lines
1.9 KiB
XML
Executable File
<?xml version="1.0"?>
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<robot>
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<!-- materials -->
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<gazebo reference="base_link">
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<material>Gazebo/While</material>
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</gazebo>
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<gazebo reference="front left_Link">
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<material>Gazebo/Black</material>
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</gazebo>
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<gazebo reference="back left_Link">
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<material>Gazebo/Black</material>
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</gazebo>
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<gazebo reference="front right_Link">
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<material>Gazebo/Black</material>
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</gazebo>
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<gazebo reference="back right_Link">
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<material>Gazebo/Black</material>
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</gazebo>
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<!-- ros_control plugin -->
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>/robot</robotNamespace>
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</plugin>
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</gazebo>
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<!-- hokuyo -->
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<gazebo reference="hokuyo_link">
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<sensor type="ray" name="head_hokuyo_sensor">
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<pose>0 0 0 0 0 0</pose>
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<visualize>false</visualize>
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<update_rate>40</update_rate>
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<ray>
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<scan>
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<horizontal>
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<samples>720</samples>
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<resolution>1</resolution>
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<min_angle>-1.570796</min_angle>
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<max_angle>1.570796</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.10</min>
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<max>30.0</max>
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<resolution>0.01</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<!-- Noise parameters based on published spec for Hokuyo laser
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achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
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stddev of 0.01m will put 99.7% of samples within 0.03m of the true
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reading. -->
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<mean>0.0</mean>
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<stddev>0.01</stddev>
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</noise>
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</ray>
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<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
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<topicName>/scan</topicName>
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<frameName>hokuyo_link</frameName>
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</plugin>
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</sensor>
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</gazebo>
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</robot>
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